JPH0788143B2 - Automatic vehicle speed controller - Google Patents

Description

Detailed Description of the Invention

[Object of the Invention] (Field of Industrial Application) The present invention relates to a vehicle speed automatic control device used for automatically controlling a traveling speed of a vehicle to a certain set speed. (Prior Art) Conventionally, various types of automatic vehicle speed control devices have various configurations. Among them, a vehicle speed sensor that outputs operation data proportional to the actual vehicle speed and a command that outputs a cruise command signal are included. A switch, a vehicle speed storage means for storing operation data of the vehicle speed sensor in response to operation of the command switch, an actuator for driving a throttle valve, and a command for the actuator in response to a difference between an actual vehicle speed and a stored vehicle speed. There is a vehicle speed automatic control device including: Examples of the actuator of this vehicle speed automatic control device include a negative pressure control type actuator that drives a throttle valve by a negative pressure pump driven by a motor, or an electromagnetic clutch by forward or reverse rotation of a motor by a motor drive circuit. There was a motor-driven actuator that drives the throttle valve. In the vehicle speed automatic control device provided with the actuator of the negative pressure control system or the motor drive system, the vehicle speed at the time of the off operation is stored by operating the command switch on (ON) and then off (OFF). The control means sends a command to the actuator in response to the difference between the stored vehicle speed and the actual vehicle speed, and the actuator drives the throttle valve to adjust the actual vehicle speed to the above stored vehicle speed to drive at a constant speed. It is very convenient for traveling in etc. (Problems to be Solved by the Invention) However, in the conventional vehicle speed automatic control device described above,
Since the engine performance, reduction ratio, weight, etc. differ depending on the type of vehicle installed, initialization of the vehicle speed control program, K,
The variation of the characteristics of the vehicle has been dealt with by changing the gain G {control formula (K · α + ε) · G} and the control constants such as accelerator off. The performance required for this automatic vehicle speed control device is to keep the vehicle running at a constant vehicle speed and to prevent overshoot or undershoot (transient response) that occurs when the command switch (set switch, accelerator switch and resume switch) is operated. It is required to converge quickly, and since the control constant that adjusts this performance is the gain constant, it is possible to change the setting so that this gain constant matches that at constant speed running and transient response. However, in the negative pressure control type actuator, the motor that drives the negative pressure pump has a constant rotation, and even in the motor drive type actuator, the rotation speed of the drive motor is constant, so the gain constant setting must be changed. However, there is a problem in that it is slow to follow the control signal of the actuator. (Object of the invention) Therefore, the present invention has been made by paying attention to the above-mentioned conventional problems. It is possible to perform stable vehicle speed control during constant-speed traveling and to quickly follow transient changes during transient response. It is an object of the present invention to provide a vehicle speed automatic control device that is capable of

[Constitution of the invention]

(Means for Solving Problems) In order to achieve the above object, the vehicle speed automatic control according to the present invention is performed.
The configuration of the controller is explained using the functional block diagram shown in FIG.
When revealed, actual vehicle speed data proportional to the actual vehicle speed will be generated.
The vehicle speed sensor 1 and the
Mand switch 2 and the operation of the command switch 2
In response, store the data generated by the vehicle speed sensor 1
The vehicle speed storage means 3 for storing the vehicle speed data and the vehicle speed
An actuator 5 for driving the rottle valve 4,
Actual vehicle speed data generated by the vehicle speed sensor 1 and the vehicle speed memory
The stored vehicle speed data stored in the means 3 is compared, and both
Control means 6 for controlling the actuator 5 according to the difference
A vehicle speed automatic control device comprising:
The motor 5 has a brush for high speed rotation and a brush for low speed rotation.
Then, when current is supplied to the brush for high speed rotation, it rotates at high speed.
When the brush for low speed rotation is supplied with current, it rotates at low speed.
Including a rotating motor, and the control means 6 controls the command
Judgment means for judging that the switch 2 is operated
And a brush for high-speed rotation and a brush for low-speed rotation of the motor
The current can be supplied by selectively switching to
Determines whether the coand switch is being operated.
Supply current to the high speed brush of the motor
Then, when the operation of the command switch is completed, the motor
Motor speed switching circuit that supplies current to low speed brush
It is equipped with. (Operation) The present invention is applied to a cruise situation, especially during transient response and constant speed running.
Optimal control settings that match the individual situation
Actuator 5 is driven by a number, especially gain constant
Drive speed of the actuator 5 to suit the individual situation.
Change to the speed you have set and overshoot or undershoot
It is to prevent the shoot state. That is, when the actuator 5 is a motor drive system,
Drives the throttle valve 4 according to a command from the control means 6.
The moving motor during transient response, i.e.
Brushes for transient response when the switch is operated.
Set as a brush for high-speed rotation, and control means for transient response
Throttle valve 4 of command quantity in a short time according to the command of 6
To drive. And when driving at constant speed, that is, command
When you have finished operating the switch,
Set as a brush for low-speed rotation and control means for constant speed running
Followed by the instruction of No. 6, the external factor increased or decreased the actual vehicle speed
Even if the throttle valve 4 is opened or closed more than necessary
Are prevented. Further, the actuator 5 has a negative pressure control including a negative pressure pump.
In the case of the system, a negative pressure pump is instructed by the control means 6
The motor that drives the
The brush for transient response when the switch is operated.
Set to a high speed brush to increase the amount of negative pressure generated.
Then, in accordance with the command of the control means 6 at the time of transient response, the finger is quickly
The throttle valve 4 of the required amount is driven. And constant speed
At line, that is, when the command switch operation is completed
The motor is a brush for constant speed running, that is, a brush for low rotation
Set to and follow the command of the control means 6 when traveling at a constant speed.
However, even if the actual vehicle speed increases or decreases due to external factors,
It prevents the throttle valve 4 from being opened and closed.
It (Example) Hereinafter, the present invention will be described with reference to the drawings. <Embodiment 1> FIGS. 2 and 3 are views showing an embodiment of the present invention.
is there. FIG. 2 is an explanatory diagram showing the circuit configuration of the vehicle speed automatic control system.
Therefore, in FIG. 2, reference numeral 21 is an operation data proportional to the actual vehicle speed.
Vehicle speed sensor that outputs the data (the vehicle speed sensor shown in FIG. 1
-1), 22 is a commander that outputs a cruise command signal
Switch (corresponding to the command switch 2 shown in Fig. 1)
And this command switch 22 has a set switch
22a, resume switch 22b and accelerator switch 22c
Is included. Then, the vehicle speed sensor 21 and the command
The output from the switch 22 is the input in the controller 23.
Through interface 24 and interface 25
A microcomputer that is a control unit in the controller 23
Entered in 26. This microcomputer 26 has
Operation of the set switch 22a of the command switches 22
In response to the vehicle speed (actual vehicle speed) during operation, the vehicle speed sensor 21
Vehicle speed memorized by operation data (pulse signal) output from
Storage means (corresponding to the vehicle speed storage means 3 shown in FIG. 1) and
Actuator 30 to be described later depending on the
Set it as the drive device when answering or running at constant speed and
Control that keeps the vehicle speed constant corresponding to the difference between the vehicle speed and the stored vehicle speed
Means (corresponding to the control means 6 shown in FIG. 1)
It 30 is a vehicle throttle valve 40 (the slot shown in FIG. 1
(Compatible with Le valve 4)
A projector (corresponding to the actuator 5 shown in FIG. 1)
It This actuator 30 is equipped with a brush H for high speed rotation and
And a drive motor 31 having a brush L for low speed rotation, and an electromagnetic
The electromagnetic clutch 32 is provided with a clutch 32.
A clutch (not shown) in response to a command from the black computer 26
The rotation of the drive motor 31 is not shown because the parts are intermittently connected.
It is transmitted to the throttle valve 40 via the reduction mechanism.
is there. The output shaft of the actuator 30 is
An output transmission mechanism not shown, such as an output link,
It is connected to the rottle valve 40. 50 is in the controller 23, and the actuator 30
Motor drive that rotates the drive motor 31 forward or backward
Circuit. This motor drive circuit 50 is
The drive motor 31 is rotated forward in response to the forward rotation signal of the computer 26.
Forward rotation switching unit 51 to rotate the
The drive motor 31 is rotated in reverse in response to the reverse rotation signal of the computer 26.
Reverse rotation switching unit 52 to rotate and PNP type transition
It includes the transistors Tr1 and Tr2 and resistors R1 to R4. 60 is in the controller 23 and
Actuator switch that turns on / off the power supply to the
This is the touching part.
Computer operated by the control signal output from the computer 26
A relay consisting of a ra coil 61a and a relay switch 61b
Made through 61. 70 is in the controller 23
The rotation speed of the drive motor 31 is controlled by the microcomputer 26.
A motor that switches between high-speed and low-speed according to a command
It is a speed switching circuit. This motor speed switching circuit
70 is turned on by the control signal of the microcomputer 26
・ Switching unit 71 for switching off the motor speed,
By the operation of this motor speed switching unit 71
Relay coil 72 that is excited by
The movable contact piece 73 attracted to the
Low speed side contact 74 connected to the brush L and the drive motor
It has a high-speed side contact 75 that connects to 31 high-speed brushes H.
It Also, 80 is a brake switch and 81 is a brake lamp.
Then, the system is canceled when the brake is operated.
Signal for the interface 82 in the controller 23
Then, the data is input into the microcomputer 26. Furthermore, 83 is a constant voltage circuit, 84 is a reset circuit, and 85 is an electric circuit.
Source, 86 is the main switch for the controller, 87 is the cruiser
Pump. Next, in the operation of the vehicle speed automatic control device with such a configuration
This will be explained with reference to FIG. 3 as well. First, automatic vehicle speed control
To activate the device, turn main switch 86 on.
Keep it. At this time, the vehicle speed sensor 21 is proportional to the actual vehicle speed.
Output the pulse signal which is the operation data,
To the microcomputer 26 in the controller 23
Pulse that is proportional to the vehicle speed
The number is always recognized by the microcomputer 26. This
In the state of, the control routine shown in FIG. 3 will be explained.
It First, in step 101, a set command is issued.
The output of the set command is
If it is determined to be NO (NO), return to the original state and set.
Looped until a command is output. Also,
In step 101, the set command is output
If it is determined (YES), the process proceeds to step 102, and this step
Switching for motor speed switching at step 102
The part 71 is turned on. Then, in step 103, the actual vehicle speed at this time is compared.
Performs initialization control with the corresponding set initialization.
Yes, go to the next step 104, and in this step 104
Determine whether the set command is output and
If it is determined that the command is being output (YES),
Continue to Step 102. Also, in step 104,
If it is determined that the command is not output (NO),
The actual vehicle speed at this time is stored as the memory vehicle speed, and step 10
Proceeding to step 5, the motor speed switching switching unit 71
To turn off. Then, in the next step 106, the stored
The vehicle speed is automatically controlled based on the vehicle speed, and the next step 10
In step 7, determine whether the cancel command was output.
The cancel command in step 107.
If it is determined that the output has not been made (NO), the step
Go to page 104. In step 107, cancel
If it is determined that the command has been output (YES),
Proceed to step 108 and in this step 108 the motor
The speed switching switching unit 71 is turned on. Then, in step 109, the return control is performed, and the step
Go to page 101. That is, the main switch 86 is turned on.
When set to, the loop state is set as described above. Next, the operation of the automatic vehicle speed control device in various states will be described.
And explain. First, the set operation will be explained.
Set the switch 22a of the switch 22 to the on state.
After inputting commands to the microcomputer 26,
Set the switch 22a to the off state and
To release. That is, in step 101, the set switch
When the switch 22a turns on, the set command is output.
(YES), the motor
The speed changeover switching unit 71 is turned off. That is, the microcomputer 26 is for the actuator
Activate the switching part 60 and turn on the relay 61.
Supply power 85 to actuator 30 and power clutch 32
To drive the torque of the drive motor 31
Switch to standby mode, ready to transmit
The black computer 26 is a switch for switching the motor speed.
Actuating the contact part 71 to excite the relay coil 72 to move the movable contact piece.
73 is attracted to the contact 74 on the high speed side to drive the actuator 30
Increase the rotation speed of the motor 31. Then, in step 103, initialization control is performed.
U That is, the microcomputer 26 sets the
Rotation of the motor drive circuit 50 only for the time corresponding to
The switching part 51 for
The base power supply of the starter Tr2 is turned on, and the main switch
Switch 86, relay switch 61b of relay 61, motor drive circuit 5
0 transistor Tr2, drive motor 31, high-speed brush H, motor
High speed side contact 74 of the speed change circuit 70, movable contact 73, forward rotation
A circuit that reaches the ground via the diversion switching unit 51 is established.
Drive motor 31 to rotate at high speed and
The control constant, especially the gain constant, is changed for transient response.
Therefore, the actuator 30
Set initiator based on modified gain constant output
The throttle valve 40 can be quickly set in accordance with
Rotate to and hold the position. In this state, the set command is output in step 104
If not (NO), the actual vehicle speed at this time
Is stored in the vehicle speed storage means of the microcomputer 26.
At the same time, the cruise lamp 87 lights up, and at step 105
The motor speed switching unit 71 is turned off.
To That is, switching for motor speed switching
When the part 71 is turned off, the excitation of the relay coil 72 is stopped.
Then, the movable contact piece 73 abuts the low speed side contact 74,
When the rotation speed of the drive motor 31 of the motor 30 is switched to a low speed
In both cases, the gain constant is changed for low speed running. Then, in step 106, vehicle speed automatic control is performed. You
That is, even if the accelerator pedal is released, the throttle valve 40
Is held in place and recorded on the microcomputer 26.
A constant speed traveling is performed based on the stored memory vehicle speed. One
Mari, and the initialization control in step 103
For set initialization output by Black Computer 26
By the actuator 30 that drives at high speed by the corresponding amount
Since the throttle valve 40 can be swung quickly,
You can prevent the vehicle speed from dropping immediately after the switch 22a is turned off.
It And after that, the micro computer
26 detected by automatic vehicle speed control in step 106
The number of pulses proportional to the actual vehicle speed
Drive at low speed so that it is equal to the number of lus (ie, memory vehicle speed).
Directly sends a command to the driven actuator 30
Switching unit 51 or reverse rotation switching unit 52
Operate to rotate the drive motor 31 forward or backward
By controlling the throttle valve 40 by
When the speed is less than the stored vehicle speed by a predetermined value
Is a positive rotation controlled by the microcomputer 26
By turning on the switching unit 51 for
Transistor drive circuit 50 transistor Tr2 base power is on.
The main switch 86 from the power supply 85, the relay 61 relay 61
Switch 61b, transistor Tr2 of motor drive circuit 50, actuation
Drive motor 31 for the player 30, low-speed brush L, motor spin
Low speed side contact 75 of the switching circuit 70, movable contact 73, forward rotation switch
A circuit that reaches the ground via the switching section 51 is established.
The throttle valve 40 in the valve opening direction (actuator
The motor 31 for driving the motor 30 rotates positively)
To increase vehicle speed. On the other hand, the actual vehicle speed is higher than the memory vehicle speed.
When the value increases by a fixed value, the microcomputer
Turning on the reverse rotation switching unit 52 controlled by 26
The motor drive circuit 50
The base current of transistor Tr1 is conducted and the main switch
Switch 86, relay switch 61b of relay 61, motor drive circuit 5
0 transistor Tr1, motor speed switching circuit 71 movable
Contact piece 73, low speed side contact 75, low speed brush L of actuator 30,
Drive motor 31, reverse rotation switching unit 52
Circuit to reach the throttle valve
40 in the valve closing direction (motor 31 for driving actuator 30
Rotates in reverse) to reduce the vehicle speed. So
Then, by repeating such operations, the vehicle speed is
Control to a certain degree. When the accelerator switch 22c is turned on, the
Switch 22a to the on state
The motor speed switching switch is commanded by the computer 26.
The switching part 71 is turned on and the actuator 30
The rotation speed of the drive motor 31 in the
In the state of, it is determined by the gain constant changed for the transient response.
Performs acceleration control and turns off accelerator switch 22c.
Then, the switching unit 71 for switching the motor speed is turned off.
And the rotation speed of the drive motor 31 is set to the low speed side.
The vehicle speed is changed by changing the gain constant for running at constant speed.
Shift to automatic control. Next, a case where a cancel operation is performed will be described. That is, if you want to cancel the system,
When the pedal is pressed (that is, the brake switch 80 is
When it is turned on) or when the clutch pedal is pressed
(Manual transmission vehicle) and control
When the lever is in the “P” or “N” position (automatic
Transmission car) and set switch 22a
Same as the jum switch 22b or accelerator switch 22c.
The main switch 86 to the off state.
Brakes among these
Switch 80 is turned on or the clutch pedal is
When you step on the control lever, move the control lever to the “P” or “N” position.
If you cancel the system, such as when
Outputs a cancel command in step 107.
(YES), the motor
For switching the speed of switching the speed switch 71
The motor 31 is switched from the low speed brush L to the high speed brush H.
Then, in step 109, return control is performed. Sanawa
When the cancel command is output,
The computer 26 switches the rotation speed of the drive motor 31 to the high speed side.
Turn on the reverse rotation switching unit 52 of the motor drive circuit 50.
The throttle valve 40 to the fully closed position at high speed.
return. Turn off the main switch 86 to shut down the system.
If you cancel, power is supplied to the entire system.
The electromagnetic clutch 32 of the actuator 30 is turned off.
The drive motor 31 and the throttle valve 40
Disconnect the throttle valve 40 and connect the throttle valve 40
It is returned to the fully closed position by the urging force of the ring. When the brake switch 80 is turned on,
Touch the control pedal or press the control lever "P"
Or when the system is released, such as when it is in the “N” position.
In this case, when the resume switch 22b is turned on,
It is possible to recover the actual vehicle speed up to the actual vehicle speed up to the memory vehicle speed.
it can. At this time, the set switch 22a is turned on.
The microcomputer 26 will be
Turn on the switching unit 7 for switching the data speed,
By changing the rotation speed of the drive motor 31 to the high speed side,
It is to return to the memory vehicle speed. <Embodiment 2> FIGS. 4 to 6 are views showing another embodiment of the present invention.
It FIG. 4 is a diagram showing a circuit configuration of the vehicle speed automatic control system.
The same parts as the automatic vehicle speed control system shown in Fig. 2 are the same.
The reference numerals are given and the description thereof is omitted. That is, reference numeral 90 in the figure is an actuator (shown in FIG. 1).
Corresponding to the actuator 5). This actuary
As shown in FIG. 5, the actuator 90 has an actuator 91
, Control unit 92, and this actuator unit 91 and control unit
The control unit 92 includes a connecting pipe 93 for connecting 92.
Control valve 94, safety valve 95, and negative pressure pump 96
It has and. The negative pressure pump 96 includes a diaphragm 96a and
The drive rod 96b that moves the diaphragm 96a of
Drive rod 96b up and down via a reduction mechanism not shown
Motor 96 having high speed side brush H and low speed side brush L
c, a suction valve 96d, and a discharge valve 96e, and drives the motor 96c.
By moving the casing 91 of the actuator unit 91.
a and one side of the diaphragm 91b (right side of FIG. 5)
The air in the negative pressure chamber 91c formed by
To do. In addition, the connection pipe 93 has a vent valve 94 and a safety valve.
One end of valve 95 is connected to this vent valve 94
The other end of the safety valve 95 is open to the atmosphere. Further, the diaphragm in the actuator section 91
The other side of 91b (left side of Fig. 5) is control wire 9
It is connected to the throttle valve 40 via 7. And 98 is in the controller 23 and is
The vent valve 94 is turned on according to the output from the computer 26.
・ Switching part for vent valve to control off, 99a
Also in the controller 23, a microcomputer
Guide the low speed brush L of the motor 96c according to the output of 26.
The low-speed switching part that allows the communication, 99b is also the controller
Which is in the controller 23,
For high speed, which connects the high speed brush H of the motor 96c.
It is a switching unit. Next, regarding the operation of the vehicle speed automatic control device having the above-mentioned configuration
Explaining including FIG. 6, first, the vehicle speed automatic control device will be described.
The main switch 86 is operated in the same manner as in the first embodiment.
Is turned on. At this time, the vehicle speed sensor 21 is actually
Output a pulse signal that is operation data proportional to the vehicle speed,
This pulse signal is sent to the microcomputer 23 in the controller 23.
Input to the data 26 and sampled within a certain time to determine the vehicle speed.
The microcomputer 26 always recognizes the proportional number of pulses
I will let you. In this state, the control routine shown in FIG.
Chin is also active and this control routine will be described. Well
No, the set command was output in step 201.
It is determined that there is no set command output.
If NO (NO), return to the original state and set command
Is in a loop until is output. Also, step 20
When it is determined that the set command was output in 1
If YES (YES), the process proceeds to step 202. Then, in step 202, the high-speed switching unit 9
9b is used to set the actual vehicle speed
Initialization control is performed by
Proceed to step 3, and the set command is issued in step 203.
The set command is output.
If it is determined to be true (YES), the process proceeds to step 202.
In addition, the set command is output in step 203.
If it is determined that there is no vehicle (NO), the actual vehicle speed at this time
Is stored as the vehicle speed and the process proceeds to step 204. Then, in step 204, the low speed switching unit 9
The vehicle speed based on the stored vehicle speed stored using 9a.
Control is performed and the cancel command is executed in the next step 205.
Command is output, this step 205
It is determined that the cancel command is not output in
If the answer is NO (NO), the process proceeds to step 203. In addition,
When a cancel command is output at step 205
If determined (YES), the process proceeds to step 206
In step 206, the vent valve switching unit 98
To turn off. That is, turn on the main switch 86.
When in the state, it is in the loop state as described above. Next, the operation of the automatic vehicle speed control device in various states will be described.
And explain. First, the set operation will be explained.
Set the switch 22a of the switch 22 to the on state.
After inputting commands to the microcomputer 26,
Set the switch 22a to the off state and
To release. That is, in step 201, the set switch
When the switch 22a is turned on, the set command is output.
Is determined (YES), and in step 202, high-speed
Use the initialization section 99b for set initialization.
The corresponding initialization control is performed. That is, micro
The computer 26 switches the actuator switching unit 60
Actuator 90 with relay 61 turned on
Supply the power 85 to the control part 92 of the
Closed by changing to the ON state and changed the gain constant
Microcomputer 26 switching for vent valve
By closing the part 98 by turning it on,
High speed with set initialization corresponding to actual vehicle speed
The switching unit 99b is turned on, and the motor 9 of the control unit 92 is
6c is rotated at high speed, and the negative pressure generated here is actuated.
Introduced into the negative pressure chamber 91c of
To quickly hold throttle valve 40 in place.
To have. Then, in this state, in step 203, set command
If it is determined that the command is not output (NO),
The actual vehicle speed of the vehicle is recorded in the vehicle speed storage means of the microcomputer 26.
As you remember, the cruise lamp 87 lights up and the step
In 204, the microcomputer 26 is a low speed switch
The vehicle speed automatic control is performed using the steering part 99a. That is,
Microcomputer 26 is proportional to the detected actual vehicle speed
The number of pulses is equal to the number of stored pulses (vehicle speed)
Switch for the vent valve 98 and
Bent valve via each low speed switching unit 99a
The on / off control of the motor 94 and motor 96c
Control the negative pressure state in the negative pressure chamber 91c of the actuator unit 91
However, for example, the actual vehicle speed is less than the stored vehicle speed by a predetermined value.
The microcomputer 26 controls
The negative pressure is generated by the operation of the controlled low-speed switching unit 99a.
The motor 96c of the pump 96 is rotated to move the actuator unit 91
Negative pressure is introduced into the negative pressure chamber 91c of the
The vehicle speed is increased by rotating the valve 40 slightly in the valve opening direction.
Let On the other hand, the actual vehicle speed is higher than the stored vehicle speed by a predetermined value.
Control by the microcomputer 26 when
By the operation of the switching part 98 for the vent valve,
Turn off the vent valve 94 and
The atmosphere is introduced into the negative pressure chamber 91c, and the throttle is
Rotate the valve 40 slightly in the valve closing direction to reduce the vehicle speed.
Let Then, by repeating such operations,
The speed is controlled to be constant. When the accelerator switch 22c is turned on, the
The same as turning on the switch 22a.
Switch valve for vent valve according to command from computer 26
Turn on the switching unit 98 and high-speed switching unit 99b.
The vent valve 94 to the on state to close it, and
During transient response by rotating the motor 96c of the pressure pump 96 at high speed
Perform constant acceleration control with the gain constant changed for. That
The accelerator switch 22c to the off state,
Dynamic control, the microcomputer 26
Throttle valve 40 using the switching part for high speed 99a
Control. Next, a case where a cancel operation is performed will be described. That is, if you want to cancel the system,
When the pedal is pressed (that is, the brake switch 80 is
(When it is in the on state) or when the clutch pedal is depressed
(For manual transmission vehicles), control
Control lever to the “P” or “N” position (automatic
Tick transmission vehicles) and set switch 22a
And resume switch 22b or accelerator switch 22c
Are turned on at the same time, or main switch 86 is turned on.
This is done when the
When the switch 80 is turned on or when the clutch pedal
Control pedal or press the control lever “P” or
If you cancel the system, such as when you set it to the “N” position
If a cancel command is issued in step 205,
It is determined that the force has been applied (YES), and in step 206, the pen
The valve switching unit 98 to the off state.
Open the lube 94, introduce the atmosphere into the negative pressure chamber 91, and throttle it.
Return valve 40 to the fully closed position. When the brake switch 80 is turned on,
When you depress the latch pedal or push the control lever
You can cancel the system by moving it to the “P” or “N” position.
When the cell is turned on, the resume switch 22b is turned on.
To turn on the set switch 22a.
Microcomputer 26 has a vent valve
Switching section 98 and high-speed switching section 99b
Turn it on, close the vent valve 94, and
The motor 96c of the pump 96 is rotated at high speed to
The actual vehicle speed can be recovered up to. Therefore, each of the above-mentioned first and second embodiments is at the time of transient response or constant.
For changing control constants during high-speed running, especially gain constants
For the actuator 30 of the motor drive system, for drive
To change the rotation speed of the motor 31 to high speed or low speed,
Quickly drive the throttle valve 40 to turn on during transient response.
To prevent overshoot and undershoot
It is also possible to stabilize the control during constant speed running.
it can. Negative pressure type actuator with negative pressure pump 96
Even when 90, the gain constant during transient response or constant speed running
High speed rotation of the negative pressure pump 96 motor 96c against changes in
Or, change the amount of negative pressure generated to change to a low speed.
The throttle valve 40 can be driven quickly.
be able to.

【The invention's effect】

As described above, according to the vehicle speed automatic control system of the invention, the vehicle speed sensor for generating the actual vehicle speed data proportional to the actual vehicle speed of the vehicle, the command switch for generating the cruise command signal, and the operation of the command switch are provided. In response, the vehicle speed storage means for storing the data generated by the vehicle speed sensor as stored vehicle speed data, the actuator for driving the throttle valve of the vehicle, the actual vehicle speed data generated by the vehicle speed sensor and the vehicle speed storage means are stored. In the vehicle speed automatic control device including a control means for controlling the actuator according to a difference between the stored vehicle speed data and the stored vehicle speed data, the actuator includes a high speed rotation brush and a low speed rotation brush. , When the brush for high speed rotation is supplied with current, it rotates at high speed, and when the brush for low speed rotation is supplied with current The control means includes a motor that rotates at a high speed, and the control means selectively supplies a switching current to the determination means that determines that the command switch is operated, and the high speed rotation brush and the low speed rotation brush of the motor. If the determination means determines that the command switch is operated, it supplies a current to the brush for high speed rotation of the motor, and when the operation of the command switch is completed, a current is supplied to the brush for low speed of the motor. By including the motor speed switching circuit that supplies
To match the setting of the drive speed of the actuator to the situation of the cruise in response to the change of the setting of the gain constant,
In other words, it is possible to change the setting to high speed during transient response and to low speed during constant speed driving, which improves the response during transient response and can quickly follow transient changes. It is possible to obtain an excellent effect that stable vehicle speed control becomes possible.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing a configuration according to an embodiment of a vehicle speed automatic control device of the present invention, and FIG. 2 is an explanatory diagram showing a circuit configuration according to an embodiment of a vehicle speed automatic control device of the present invention,
FIG. 3 is a flow chart showing a control routine executed by the microcomputer shown in FIG. 2, FIG. 4 is an explanatory view showing a circuit configuration according to another embodiment of the vehicle speed automatic control system of the invention, and FIG. FIG. 4 is a schematic explanatory view showing the structure of the actuator of FIG. 4, and FIG. 6 is a flow chart showing a control routine executed by the microcomputer of FIG. 1 ... Vehicle speed sensor, 2 ... Command switch, 3 ... Vehicle speed storage means, 4 ... Throttle valve, 5 ... Actuator, 6 ... Control means.

Claims (1)

[Claims] 1. A vehicle speed sensor for generating actual vehicle speed data proportional to the actual vehicle speed of a vehicle, a command switch for generating a cruise command signal, and data generated by the vehicle speed sensor in response to operation of the command switch. The vehicle speed storage means for storing the stored vehicle speed data, the actuator for driving the throttle valve of the vehicle, the actual vehicle speed data generated by the vehicle speed sensor and the stored vehicle speed data stored in the vehicle speed storage means are compared, and the difference between the two is compared. In the vehicle speed automatic control device including a control means for controlling the actuator according to, the actuator has a brush for high speed rotation and a brush for low speed rotation, and a current is supplied to the brush for high speed rotation. The control means includes a motor that rotates at high speed and that rotates at low speed when current is supplied to the brush for low speed rotation, It is possible to selectively switch between a brush for high speed rotation and a brush for low speed rotation of the motor to determine that the command switch is operated, and to supply a current. A motor speed switching circuit that supplies a current to the high speed brush of the motor when the operating state is determined, and supplies a current to the low speed brush of the motor when the operation of the command switch is completed. A vehicle speed automatic control device characterized in that